[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE =               HM2-Stepper
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG =                0x00000003
#DEBUG =                0x00000007
DEBUG = 0

[DISPLAY]
# Name of display program, e.g., tklinuxcnc
#DISPLAY =               tklinuxcnc
DISPLAY =              axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.0500
# Path to help file
HELP_FILE =             tklinuxcnc.txt
# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET =       RELATIVE
# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK =     ACTUAL
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE =     1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC =         linuxcnc.gif
INTRO_TIME =            5

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE =        hm2-stepper.var

[EMCMOT]
EMCMOT =                motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =          1.0
# Servo task period, in nanoseconds
SERVO_PERIOD =          1000000

[TASK]
# Name of task controller program, e.g., milltask
TASK =                  milltask
# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =            0.010

[HAL]
# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
# list of hal config files to run through halcmd
# files are executed in the order in which they appear
HALFILE =		hm2-stepper.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =               save neta

[HALUI]
#No Content

[TRAJ]
COORDINATES =           X Y Z
#HOME =                  0 0 0
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree

[EMCIO]
# Name of IO controller program, e.g., io
EMCIO =                 io
# cycle time, in seconds
CYCLE_TIME =            0.100
# tool table file
TOOL_TABLE =            tool.tbl

[KINS]
KINEMATICS = trivkins
JOINTS = 3

[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20

[JOINT_0]
# 
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesn't buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE =              LINEAR
MAX_VELOCITY =       10
MAX_ACCELERATION =   20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL =    12
STEPGEN_MAX_ACC =    24
BACKLASH =           0.000
# scale is 200 steps/rev * 5 revs/inch
SCALE =           1000
MIN_LIMIT =             -10.0
MAX_LIMIT =             10.0
FERROR =     0.050
MIN_FERROR = 0.005
#HOME =                  0.000
#HOME_OFFSET =           0.10
#HOME_SEARCH_VEL =       0.10
#HOME_LATCH_VEL =        -0.01
#HOME_USE_INDEX =        YES
#HOME_IGNORE_LIMITS =    YES
HOME_SEQUENCE =         1
# these are in nanoseconds
DIRSETUP   =              200
DIRHOLD    =              200
STEPLEN    =              40000
STEPSPACE  =              40000

[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20

[JOINT_1]
TYPE =              LINEAR
MAX_VELOCITY =       10
MAX_ACCELERATION =   20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL =    12
STEPGEN_MAX_ACC =    24
BACKLASH =           0.000
SCALE = 1000
MIN_LIMIT =             -10.0
MAX_LIMIT =             10.0
FERROR =     0.050
MIN_FERROR = 0.005
#HOME =                  0.000
#HOME_OFFSET =           0.10
#HOME_SEARCH_VEL =       0.10
#HOME_LATCH_VEL =        -0.01
#HOME_USE_INDEX =        YES
#HOME_IGNORE_LIMITS =    YES
HOME_SEQUENCE =         1
# these are in nanoseconds
DIRSETUP   =              200
DIRHOLD    =              200
STEPLEN    =              40000
STEPSPACE  =              40000

[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 10
MAX_ACCELERATION = 20

[JOINT_2]
TYPE =              LINEAR
MAX_VELOCITY =      10
MAX_ACCELERATION =  20
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL =    12
STEPGEN_MAX_ACC =    24
BACKLASH =           0.000
SCALE = 1000
MIN_LIMIT =             -10.0
MAX_LIMIT =             10.0
FERROR =     0.050
MIN_FERROR = 0.005
#HOME =                  0.000
#HOME_OFFSET =           0.10
#HOME_SEARCH_VEL =       0.10
#HOME_LATCH_VEL =        -0.01
#HOME_USE_INDEX =        YES
#HOME_IGNORE_LIMITS =    YES
HOME_SEQUENCE =         0
# these are in nanoseconds
DIRSETUP   =              200
DIRHOLD    =              200
STEPLEN    =              40000
STEPSPACE  =              40000

[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i22
CONFIG="firmware=hm2/5i22-1/SVST8_8.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
